CN103786149A - Simple two-freedom-degree mechanical arm - Google Patents

Simple two-freedom-degree mechanical arm Download PDF

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Publication number
CN103786149A
CN103786149A CN201210429111.5A CN201210429111A CN103786149A CN 103786149 A CN103786149 A CN 103786149A CN 201210429111 A CN201210429111 A CN 201210429111A CN 103786149 A CN103786149 A CN 103786149A
Authority
CN
China
Prior art keywords
clamper
clamp
easy
manipulator
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201210429111.5A
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Chinese (zh)
Inventor
雷恩·李·哈里森
张淑云
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZHOU JIUGONG AUTOMATION TECHNOLOGY Co Ltd
Original Assignee
SUZHOU JIUGONG AUTOMATION TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SUZHOU JIUGONG AUTOMATION TECHNOLOGY Co Ltd filed Critical SUZHOU JIUGONG AUTOMATION TECHNOLOGY Co Ltd
Priority to CN201210429111.5A priority Critical patent/CN103786149A/en
Publication of CN103786149A publication Critical patent/CN103786149A/en
Pending legal-status Critical Current

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Abstract

A simple two-freedom-degree mechanical arm comprises a standing column, a motor, a reducing gear combination, a cantilever crossbeam, a counter weight, a proximity sensor, a block, a vertical air cylinder, a plurality of guide rods, a crank slider mechanism and a drive air cylinder. The motor, the reducing gear combination and the cantilever crossbeam are fixed on the standing column. The counter weight is used for balancing the moment generated by the cantilever crossbeam and the workload at the tail end of the cantilever crossbeam. The proximity sensor is mounted on the cantilever crossbeam and used for detecting the initial position. The block is mounted on the standing column. The vertical air cylinder is used for driving a tail-end clamp to move up and down. The guide rods are used for guiding the up-down motion of the tail-end clamp. The crank slider mechanism is in central symmetry. The drive air cylinder is used for driving the clamp to clamp. The motor drives the cantilever crossbeam to rotate in a horizontal plane in a fixed shaft manner through the reducing gear combination. The clamp action of the clamp is achieved by the air cylinder driving the crank slider mechanism. The mechanical arm is simple in structure and low in manufacturing cost, and stability of the mechanical arm is increased by the counter weight.

Description

A kind of simple and easy two-freedom manipulator
Technical field
The present invention relates to mechanical field, relate in particular to a kind of simple and easy two-freedom manipulator.
Background technology
First manipulator starts development from the U.S..Manipulator can imitate some holding function of staff and arm, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.Manipulator is the industrial robot occurring the earliest; also be the modern machines people who occurs the earliest; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly made up of hand, motion and control system three parts.Hand is the parts for grasping workpiece (or instrument), has various structures form, as clamp-type, holding type and absorbent-type etc. according to the shape, size, weight, material and the job requirements that are grasped object.Motion, makes hand complete various rotations (swing), mobile or compound motion to realize the action of regulation, changes the position and the posture that are grasped object.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator, and the free degree is more, and the flexibility of manipulator is larger, and versatility is wider, and its structure is also more complicated.Control system is by the control of the motor to the each free degree of manipulator, completes specific action, and receiving sensor feedack, forms stable closed-loop control simultaneously.
Can be used at present industrial production, the manipulator that possesses large load, high reliability and security generally adopts hydraulic pressure or pneumatic gearing system, the equal more complicated of its structure and electric control system, and also expensive.And, in actual industrial production, there is the carrying action of a lot of workpiece very simple, use general multi-joint industrial robot, obviously cost is too high.
Therefore,, for above-mentioned technical problem, be necessary to provide a kind of simple and easy two-freedom manipulator for the simple carrying of workpiece fixed point, to overcome above-mentioned defect.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of simple in structure and cheap simple and easy two-freedom manipulator.
For achieving the above object, the invention provides following technical scheme:
A kind of simple and easy two-freedom manipulator, it is characterized in that: it comprises column, be fixed on the motor on column, reduction gearing combination, cantilever beams, the counterweight of the moment causing for balanced cantilever crossbeam and end service load thereof, be arranged on the proximity transducer for detection of original position in cantilever beams, be arranged on the piece on column, the vertical cylinder that drives end clamper to move up and down, give multiple guide rods of the elevating movement guiding of end clamper, Central Symmetry slider-crank mechanism, drive clamper to do the driving cylinder that clamps action, described motor is combined and is driven cantilever beams fixed-axis rotation in horizontal plane by reduction gearing, the clamping action of described clamper drives Central Symmetry slider-crank mechanism to realize by cylinder.
Preferably, in above-mentioned simple and easy two-freedom manipulator, described guide rod comprises four.
Preferably, in above-mentioned simple and easy two-freedom manipulator, the limited block that stops gear to rotate is installed in described manipulator horizontal rotating shaft in the time that appearance is abnormal.
Can find out from technique scheme, the simple and easy two-freedom robot manipulator structure of the embodiment of the present invention is simple and cheap, meanwhile, adopts counterweight to improve the stability of manipulator.
Compared with prior art, the invention has the beneficial effects as follows:
(1) simple in structure.
(2) cheap.
(3) adopt counterweight to improve the stability of manipulator.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing relevant of the present invention in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic perspective view of the simple and easy two-freedom manipulator of the present invention.
Wherein: 1, column; 2, motor; 3, reduction gearing combination; 4, counterweight; 5, proximity transducer; 6, piece; 7, cantilever beams; 8, vertical cylinder; 9, guide rod 10, Central Symmetry slider-crank mechanism; 11, drive cylinder.
The specific embodiment
The invention discloses a kind of simple in structure and cheap simple and easy two-freedom manipulator.
This simple and easy two-freedom manipulator, it is characterized in that: it comprises column, be fixed on the motor on column, reduction gearing combination, cantilever beams, the counterweight of the moment causing for balanced cantilever crossbeam and end service load thereof, be arranged on the proximity transducer for detection of original position in cantilever beams, be arranged on the piece on column, the vertical cylinder that drives end clamper to move up and down, give multiple guide rods of the elevating movement guiding of end clamper, Central Symmetry slider-crank mechanism, drive clamper to do the driving cylinder that clamps action, described motor is combined and is driven cantilever beams fixed-axis rotation in horizontal plane by reduction gearing, the clamping action of described clamper drives Central Symmetry slider-crank mechanism to realize by cylinder.
Further, described guide rod comprises four.
Further, the limited block that stops gear to rotate is installed in described manipulator horizontal rotating shaft in the time that appearance is abnormal.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is described in detail, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work, belongs to the scope of protection of the invention.
As shown in Figure 1, simple and easy two-freedom manipulator disclosed by the invention can be realized the rotation of horizontal direction and the translation of vertical direction.Simple and easy two-freedom manipulator disclosed by the invention comprises column 1, is fixed on motor 2, reduction gearing combination 3, cantilever beams 7 and counterweight 4 on column 1.The moment that this counterweight 4 causes for balanced cantilever crossbeam 7 and end service load thereof, improves the stability of manipulator.
Simple and easy two-freedom manipulator disclosed by the invention also comprises and is arranged on the proximity transducer 5 for detection of original position in cantilever beams 7, be arranged on the piece 6 on column 1, the vertical cylinder 8 that drives end clamper 12 to move up and down, give multiple guide rods 9 of the elevating movement guiding of end clamper 12, Central Symmetry slider-crank mechanism 10, drive clamper to do the driving cylinder 11 that clamps action, described motor 2 combines 3 by reduction gearing and drives cantilever beams 7 fixed-axis rotation in horizontal plane, the clamping action of described clamper is by driving cylinder 11 to drive Central Symmetry slider-crank mechanism 10 to realize.The simple and easy two-freedom robot manipulator structure of the embodiment of the present invention is simple and cheap, and meanwhile, the present invention, by adopting counterweight, has improved the stability of manipulator.
In embodiments of the present invention, guide rod 9 comprises four, certainly, in other embodiments, is not limited to four, does not do concrete restriction at this, and the guide rod of any other quantity is all within protection scope of the present invention.
Simple and easy two-freedom manipulator of the present invention is in order to consider the security in industrial production, limited block is also installed in manipulator horizontal rotating shaft, in the time occurring that the abnormal motor anglec of rotation transfinites, the rotation of gear is subject to stopping of limited block, motor torque increases, servo-drive system quits work automatically, and motor 2 stops.
The operation principle of simple and easy two-freedom manipulator of the present invention is: before operation, first utilize end clamper 12 to clamp feed member to be passed, wherein, the clamping action of end clamper 12 is by driving cylinder 11 to drive Central Symmetry slider-crank mechanism 10 to realize; Then, the motor 2 being fixed on column 1 combines 3 driving cantilever beams 7 fixed-axis rotation in horizontal plane by reduction gearing, thereby drive end clamper 12 fixed-axis rotation in horizontal plane, end clamper 12 fixed-axis rotation in horizontal plane drives feed member to be passed fixed-axis rotation in horizontal plane simultaneously; Now, the moment that counterweight 4 causes for balanced cantilever crossbeam 7 and end service load thereof, improves the stability of manipulator, be arranged on respectively proximity transducer 5 on cantilever beams 7 and column 1 with piece 6 for detection of original position; In the time that feed member to be passed arrives the destination locations of horizontal level, vertically cylinder 8 moves and drives end clamper 12 to move up and down, the elevating movement that end clamper 12 moves up and down drives feed member to be passed to move up and down simultaneously, in 12 motions of end clamper, rely on four guide rods 9 to lead, in the time that feed member to be passed arrives target location, drive cylinder 11 to drive Central Symmetry slider-crank mechanism 10 to realize end clamper 12 and unclamp materials and parts; Then, vertically cylinder 8 moves and drives end clamper 12 to move up and down; Last motor 2 combines 3 by reduction gearing and drives cantilever beams 7 fixed-axis rotation in horizontal plane, thereby drives end clamper 12 dead axle in horizontal plane to turn to home position.
The simple and easy two-freedom robot manipulator structure of the embodiment of the present invention is simple and cheap, and meanwhile, the present invention, by adopting counterweight, has improved the stability of manipulator.
Compared with prior art, the invention has the beneficial effects as follows:
(1) simple in structure.
(2) cheap.
(3) adopt counterweight to improve the stability of manipulator.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and in the situation that not deviating from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present invention is limited by claims rather than above-mentioned explanation, is therefore intended to all changes that drop in the implication and the scope that are equal to important document of claim to include in the present invention.Any Reference numeral in claim should be considered as limiting related claim.
In addition, be to be understood that, although this description is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should make description as a whole, and the technical scheme in each embodiment also can, through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.

Claims (3)

1. a simple and easy two-freedom manipulator, it is characterized in that: it comprises column, be fixed on the motor on column, reduction gearing combination, cantilever beams, the counterweight of the moment causing for balanced cantilever crossbeam and end service load thereof, be arranged on the proximity transducer for detection of original position in cantilever beams, be arranged on the piece on column, the vertical cylinder that drives end clamper to move up and down, give multiple guide rods of the elevating movement guiding of end clamper, Central Symmetry slider-crank mechanism, drive clamper to do the driving cylinder that clamps action, described motor is combined and is driven cantilever beams fixed-axis rotation in horizontal plane by reduction gearing, the clamping action of described clamper drives Central Symmetry slider-crank mechanism to realize by cylinder.
2. simple and easy two-freedom manipulator according to claim 1, is characterized in that: described guide rod comprises four.
3. simple and easy two-freedom manipulator according to claim 1, is characterized in that: the limited block that stops gear to rotate in the time that appearance is abnormal is installed in described manipulator horizontal rotating shaft.
CN201210429111.5A 2012-10-31 2012-10-31 Simple two-freedom-degree mechanical arm Pending CN103786149A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210429111.5A CN103786149A (en) 2012-10-31 2012-10-31 Simple two-freedom-degree mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210429111.5A CN103786149A (en) 2012-10-31 2012-10-31 Simple two-freedom-degree mechanical arm

Publications (1)

Publication Number Publication Date
CN103786149A true CN103786149A (en) 2014-05-14

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104722980A (en) * 2015-04-08 2015-06-24 苏州市吴中区木渎华利模具加工店 Full-pneumatic two-axis mechanical arm of condenser elastic screw cap installing machine
CN105458653A (en) * 2015-12-16 2016-04-06 嵊州市银海机械有限公司 Conversion device for metal fittings
CN105712107A (en) * 2014-12-04 2016-06-29 芜湖飞驰汽车零部件技术有限公司 Feeding device for sheet materials
CN106185269A (en) * 2016-08-23 2016-12-07 安庆银亿轴承有限公司 Feeding device between a kind of production line
CN107323981A (en) * 2017-07-04 2017-11-07 安徽江淮汽车集团股份有限公司 Transfer machine
CN108406760A (en) * 2018-03-22 2018-08-17 陈阳 A kind of gear driven type electrical control assistance manipulator device
CN108481357A (en) * 2018-03-22 2018-09-04 陈阳 A kind of electricapparatus hand for work pieces process transhipment
CN109591004A (en) * 2019-01-14 2019-04-09 中国科学院自动化研究所 Precision assembly manipulator

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3805629A (en) * 1972-06-01 1974-04-23 Usm Corp Devices for linear and rotational movements
JPH08290382A (en) * 1995-04-17 1996-11-05 Sony Corp Sucking device and carrying device
CN2629928Y (en) * 2003-07-24 2004-08-04 李威 Aluminium alloy head auto-cooling manipulator
CN101085521A (en) * 2007-06-29 2007-12-12 于复生 Simple three freedom degree manipulator
CN201086290Y (en) * 2007-07-30 2008-07-16 杨刚 Pneumatic three free degree mechanical arm
CN201669703U (en) * 2010-05-14 2010-12-15 郑州新大方重工科技有限公司 Turnover mechanical arm
CN102332422A (en) * 2011-07-29 2012-01-25 铜陵富仕三佳机械有限公司 Device for grabbing and placing product formed after plastic package of integrated circuit
CN102441890A (en) * 2011-09-30 2012-05-09 曹新江 Single chip microcomputer grabbing mechanical arm
CN202878311U (en) * 2012-10-31 2013-04-17 苏州久工自动化科技有限公司 Simple manipulator with two degrees of freedom

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3805629A (en) * 1972-06-01 1974-04-23 Usm Corp Devices for linear and rotational movements
JPH08290382A (en) * 1995-04-17 1996-11-05 Sony Corp Sucking device and carrying device
CN2629928Y (en) * 2003-07-24 2004-08-04 李威 Aluminium alloy head auto-cooling manipulator
CN101085521A (en) * 2007-06-29 2007-12-12 于复生 Simple three freedom degree manipulator
CN201086290Y (en) * 2007-07-30 2008-07-16 杨刚 Pneumatic three free degree mechanical arm
CN201669703U (en) * 2010-05-14 2010-12-15 郑州新大方重工科技有限公司 Turnover mechanical arm
CN102332422A (en) * 2011-07-29 2012-01-25 铜陵富仕三佳机械有限公司 Device for grabbing and placing product formed after plastic package of integrated circuit
CN102441890A (en) * 2011-09-30 2012-05-09 曹新江 Single chip microcomputer grabbing mechanical arm
CN202878311U (en) * 2012-10-31 2013-04-17 苏州久工自动化科技有限公司 Simple manipulator with two degrees of freedom

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105712107A (en) * 2014-12-04 2016-06-29 芜湖飞驰汽车零部件技术有限公司 Feeding device for sheet materials
CN104722980A (en) * 2015-04-08 2015-06-24 苏州市吴中区木渎华利模具加工店 Full-pneumatic two-axis mechanical arm of condenser elastic screw cap installing machine
CN105458653A (en) * 2015-12-16 2016-04-06 嵊州市银海机械有限公司 Conversion device for metal fittings
CN106185269A (en) * 2016-08-23 2016-12-07 安庆银亿轴承有限公司 Feeding device between a kind of production line
CN107323981A (en) * 2017-07-04 2017-11-07 安徽江淮汽车集团股份有限公司 Transfer machine
CN108406760A (en) * 2018-03-22 2018-08-17 陈阳 A kind of gear driven type electrical control assistance manipulator device
CN108481357A (en) * 2018-03-22 2018-09-04 陈阳 A kind of electricapparatus hand for work pieces process transhipment
CN109591004A (en) * 2019-01-14 2019-04-09 中国科学院自动化研究所 Precision assembly manipulator

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Application publication date: 20140514